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Utility Vehicle GPS / DR Integrated Navigation System

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Tutor: WangChangMing
School: Nanjing University of Technology and Engineering
Course: Measuring Technology and Instruments
Keywords: GPS,dead reckoning,odometer,integrated navigation,kalman filtering,wireless bind
CLC: TN967.2
Type: Master's thesis
Year:  2011
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Abstract:
At present, based on navigation technology becoming mature gradually, and enormous demands for it in all fields of society, integrated navigation technology, which has important significance to vehicle-mounted navigation system, has become a main trend in its development. In this paper, especially in consideration of economy and practicability, GPS receiver, electronic compass and odometer are selected to construct vehicle-mounted GPS/DR integrated navigation system.To perform high precision navigation, every key part in system has been researched deeply. First of all, according to the experiment results of single point positioning performance of several GPS receivers, selection of economical and practical vehicle-mounted one is made. Intend to overcome usual vehicle odometer¡¯s low precision which is hard to satisfy dead reckoning navigation¡¯s requirements, comprehensive analysis to various interferences on sensor which are existing in car body condition, then a higher precision vehicle navigation odometer which applies a special filtering processing circuit to improve odometer¡¯s antijamming capability is made. What¡¯s next is to discuss the working principle and error sources of electronic compass in detail, giving the error model of electronic compass. The electronic compass¡¯s calibrated through experiments and the errors of which were compensated by means of least square method. Consequently, compensation effect is obvious. Besides, for the convenience of setting target information in actual application, wireless binding device to conduct communication is designed.In accordance with the actual situation of this system, to which kalman filtering and extended kalman filtering technology was applied, the mathematical model of integrated navigation system was set up. Simulation analysis shows that kalman filtering can increase the precision of navigation system effectively. But in comparison with classical kalman filtering, extended kalman filtering technology is more suitable for dealing with nonlinear navigation system. At last, a test to integrated navigation system has been done that run in real roads traffic condition. It is verified that system is precision, reliability and stability.
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